Combining dynamic relaxation method with artificial neural networks to enhance simulation of tensegrity structures

Abstract: Structural analyses of tensegrity structures must account for geometrical nonlinearity. The dynamic relaxation method correctly models static behavior in most situations. However, the requirements for precision increase when these structures are actively controlled. This paper describes the use of neural networks to improve the accuracy of the dynamic relaxation method in order to correspond more closely to data measured from a full-scale laboratory structure. An additional investigation evaluates training the network during the service life for further increases in accuracy. Tests showed that artificial neural networks increased model accuracy when used with the dynamic relaxation method. Replacing the dynamic relaxation method completely by a neural network did not provide satisfactory results. First tests involving training the neural network online showed potential to adapt the model to changes during the service life of the structure. DOI: 10.1061/�ASCE�0733-9445�2003�129:5�672

Smart FRP Composite Sandwich Bridge Decks in Cold Regions

INE/AUTC 12.0

A Wiener-Laguerre model of VIV forces given recent cylinder velocities

Slender structures immersed in a cross flow can experience vibrations induced by vortex shedding (VIV), which cause fatigue damage and other problems. VIV models in engineering use today tend to operate in the frequency domain. A time domain model would allow to capture the chaotic nature of VIV and to model interactions with other loads and non-linearities. Such a model was developed in the present work: for each cross section, recent velocity history is compressed using Laguerre polynomials. The compressed information is used to enter an interpolation function to predict the instantaneous force, allowing to step the dynamic analysis. An offshore riser was modeled in this way: Some analyses provided an unusually fine level of realism, while in other analyses, the riser fell into an unphysical pattern of vibration. It is concluded that the concept is promissing, yet that more work is needed to understand orbit stability and related issues, in order to further progress towards an engineering tool

A Review of Structural Health Monitoring Techniques as Applied to Composite Structures.

Structural Health Monitoring (SHM) is the process of collecting, interpreting, and analysing data from structures in order to determine its health status and the remaining life span. Composite materials have been extensively use in recent years in several industries with the aim at reducing the total weight of structures while improving their mechanical properties. However, composite materials are prone to develop damage when subjected to low to medium impacts (ie 1 – 10 m/s and 11 – 30 m/s respectively). Hence, the need to use SHM techniques to detect damage at the incipient initiation in composite materials is of high importance. Despite the availability of several SHM methods for the damage identification in composite structures, no single technique has proven suitable for all circumstances. Therefore, this paper offers some updated guidelines for the users of composites on some of the recent advances in SHM applied to composite structures; also, most of the studies reported in the literature seem to have concentrated on the flat composite plates and reinforced with synthetic fibre. There are relatively fewer stories on other structural configurations such as single or double curve structures and hybridised composites reinforced with natural and synthetic fibres as regards SHM

Beurteilung der Resttragfähigkeit von Bauwerken mit Hilfe der Fuzzy-Logik und Entscheidungstheorie

Whereas the design of new structures is almost completely regulated by codes, there are no objective ways for the evaluation of existing facilities. Experts often are not familiar with the new tasks in system identification and try to retrieve at least some information from available documents. They therefore make compromises which, for many stakeholders, are not satisfying. Consequently, this publication presents a more objective and more realistic method for condition assessment. Necessary basics for this task are fracture mechanics combined with computational analysis, methods and techniques for geometry recording and material investigation, ductility and energy dissipation, risk analysis and uncertainty consideration. Present tools for evaluation perform research on how to analytically conceptualize a structure directly from given loads and measured response. Since defects are not necessarily visible or in a direct way detectable, several damage indices are combined and integrated in a model of the real system. Fuzzy-sets are ideally suited to illustrate parametric/data uncertainty and system- or model uncertainty. Trapezoidal membership functions may very well represent the condition state of structural components as function of damage extent or performance. Tthe residual load-bearing capacity can be determined by successively performing analyses in three steps. The "Screening assessment" shall eliminate a large majority of structures from detailed consideration and advise on immediate precautions to save lives and high economic values. Here, the defects have to be explicitly defined and located. If this is impossible, an "approximate evaluation" should follow describing system geometry, material properties and failure modes in detail. Here, a fault-tree helps investigate defaults in a systematic way avoiding random search or negligence of important features or damage indices. In order to inform about the structural system it is deemed essential not only due to its conceptual clarity, but also due to its applicational simplicity. It therefore represents an important prerequisite in condition assessment though special circumstances might require "fur-ther investigations" to consider the actual material parameters and unaccounted reserves due to spatial or other secondary contributions. Here, uncertainties with respect to geometry, material, loading or modeling should in no case be neglected, but explicitly quantified. Postulating a limited set of expected failure modes is not always sufficient, since detectable signature changes are seldom directly attributable and every defect might -together with other unforeseen situations- become decisive. So, a determination of all possible scenarios to consider every imaginable influence would be required. Risk is produced by a combination of various and ill-defined failure modes. Due to the interaction of many variables there is no simple and reliable way to predict which failure mode is dominant. Risk evaluation therefore comprises the estimation of the prognostic factor with respect to undesir-able events, component importance and the expected damage extent.Während die Bemessung von Tragwerken im allgemeinen durch Vorschriften geregelt ist, gibt es für die Zustandsbewertung bestehender Bauwerken noch keine objektiven Richtlinien. Viele Experten sind mit der neuen Problematik (Systemidentifikation anhand von Belastung und daraus entstehender Strukturantwort) noch nicht vertraut und begnügen sich daher mit Kompromißlösungen. Für viele Bauherren ist dies unbefriedigend, weshalb hier eine objektivere und wirklichkeitsnähere Zustandsbewertung vorgestellt wird. Wichtig hierfür sind theoretische Grundlagen der Schadensanalyse, Methoden und Techniken zur Geometrie- und Materialerkundung, Duktilität und Energieabsorption, Risikoanalyse und Beschreibung von Unsicherheiten. Da nicht alle Schäden offensichtlich sind, kombiniert man zur Zeit mehrere Zustandsindikatoren, bereitet die registrierten Daten gezielt auf, und integriert sie vor einer endgültigen Bewertung in ein validiertes Modell. Werden deterministische Nachweismethoden mit probabilstischen kombiniert, lassen sich nur zufällige Fehler problemlos minimieren. Systematische Fehler durch ungenaue Modellierung oder vagem Wissen bleiben jedoch bestehen. Daß Entscheidungsträger mit unsicheren, oft sogar widersprüchlichen Angaben subjektiv urteilen, ist also nicht zu vermeiden. In dieser Arbeit wird gezeigt, wie mit Hilfe eines dreistufigen Bewertungsverfahrens Tragglieder in Qualitätsklassen eingestuft werden können. Abhängig von ihrem mittleren Schadensausmaß, ihrer Strukturbedeutung I (wiederum von ihrem Stellenwert bzw. den Konsequenzen ihrer Schädigung abhängig) und ihrem Prognosefaktor L ergibt sich ihr Versagensrisiko mit. Das Risiko für eine Versagen der Gesamtstruktur wird aus der Topologie ermittelt. Wenn das mittlere Schadensausmaß nicht eindeutig festgelegt werden kann, oder wenn die Material-, Geometrie- oder Lastangaben vage sind, wird im Rahmen "Weitergehender Untersuchungen" ein mathematisches Verfahren basierend auf der Fuzzy-Logik vorgeschlagen. Es filtert auch bei komplexen Ursache-Wirkungsbeziehungen die dominierende Schadensursache heraus und vermeidet, daß mit Unsicherheiten behaftete Parameter für zuverlässige Absolutwerte gehalten werden. Um den mittleren Schadensindex und daraus das Risiko zu berechnen, werden die einzelnen Schadensindizes (je nach Fehlermodus) abhängig von ihrer Bedeutung mit Wichtungsfaktoren belegt,und zusätzlich je nach Art, Bedeutung und Zuverlässigkeit der erhaltenen Information durch Gamma dividiert. Hiermit wurde ein neues Verfahren zur Analyse komplexer Versagensmechanismen vorgestellt, welches nachvollziehbare Schlußfolgerungen ermöglicht

Predictive Context-Based Adaptive Compliance for Interaction Control of Robot Manipulators

In classical industrial robotics, robots are concealed within structured and well-known environments performing highly-repetitive tasks. In contrast, current robotic applications require more direct interaction with humans, cooperating with them to achieve a common task and entering home scenarios. Above all, robots are leaving the world of certainty to work in dynamically-changing and unstructured environments that might be partially or completely unknown to them. In such environments, controlling the interaction forces that appear when a robot contacts a certain environment (be the environment an object or a person) is of utmost importance. Common sense suggests the need to leave the stiff industrial robots and move towards compliant and adaptive robot manipulators that resemble the properties of their biological counterpart, the human arm. This thesis focuses on creating a higher level of intelligence for active compliance control methods applied to robot manipulators. This work thus proposes an architecture for compliance regulation named Predictive Context-Based Adaptive Compliance (PCAC) which is composed of three main components operating around a 'classical' impedance controller. Inspired by biological systems, the highest-level component is a Bayesian-based context predictor that allows the robot to pre-regulate the arm compliance based on predictions about the context the robot is placed in. The robot can use the information obtained while contacting the environment to update its context predictions and, in case it is necessary, to correct in real time for wrongly predicted contexts. Thus, the predictions are used both for anticipating actions to be taken 'before' proceeding with a task as well as for applying real-time corrective measures 'during' the execution of a in order to ensure a successful performance. Additionally, this thesis investigates a second component to identify the current environment among a set of known environments. This in turn allows the robot to select the proper compliance controller. The third component of the architecture presents the use of neuroevolutionary techniques for selecting the optimal parameters of the interaction controller once a certain environment has been identified

Condition assessment of bridge structures using statistical analysis of wavelets

La surveillance à distance des structures a émergé comme une préoccupation importante pour les ingénieurs afin de maintenir la sécurité et la fiabilité des infrastructures civiles pendant leur durée de vie. Les techniques de surveillance structurale (SHM) sont de plus en plus populaires pour fournir un diagnostic de "l'état" des structures en raison de leur vieillissement, de la dégradation des matériaux ou de défauts survenus pendant leur construction. Les limites de l'inspection visuelle et des techniques non destructives, qui sont couramment utilisées pour détecter des défauts extrêmes sur les parties accessibles des structures, ont conduit à la découverte de nouvelles technologies qui évaluent d’un seul tenant l'état global d'une structure surveillée. Les techniques de surveillance globale ont été largement utilisées pour la reconnaissance d'endommagement dans les grandes infrastructures civiles, telles que les ponts, sur la base d'une analyse modale de la réponse dynamique structurale. Cependant, en raison des caractéristiques complexes des structures oeuvrant sous des conditions environnementales variables et des incertitudes statistiques dans les paramètres modaux, les techniques de diagnostic actuelles n'ont pas été concluantes pour conduire à une méthodologie robuste et directe pour détecter les incréments de dommage avant qu'ils n'atteignent un stade critique. C’est ainsi que des techniques statistiques de reconnaissance de formes sont incorporées aux méthodes de détection d'endommagement basées sur les vibrations pour fournir une meilleure estimation de la probabilité de détection des dommages dans des applications in situ, ce qui est habituellement difficile compte tenu du rapport bruit à signal élevé. Néanmoins, cette partie du SHM est encore à son stade initial de développement et, par conséquent, d'autres tentatives sont nécessaires pour parvenir à une méthodologie fiable de détection de l'endommagement. Une stratégie de détection de dommages basée sur des aspects statistiques a été proposée pour détecter et localiser de faibles niveaux incrémentiels d'endommagement dans une poutre expérimentale pour laquelle tant le niveau d'endommagement que les conditions de retenue sont réglables (par exemple ancastrée-ancastrée et rotulée-rotulée). Premièrement, des expériences ont été effectuées dans des conditions de laboratoire contrôlées pour détecter de faibles niveaux d'endommagement induits (par exemple une fissure correspondant à 4% de la hauteur d’une section rectangulaire équivalente) simulant des scénarios d'endommagement de stade précoce pour des cas réels. Différents niveaux d'endommagement ont été simulés à deux endroits distincts le long de la poutre. Pour chaque série d'endommagement incrémentiel, des mesures répétées (~ 50 à 100) ont été effectuées pour tenir compte de l'incertitude et de la variabilité du premier mode de vibration de la structure en raison d'erreurs expérimentales et du bruit. Une technique d'analyse par ondelette basée sur les modes a été appliquée pour détecter les changements anormaux survenant dans les modes propres causées par le dommage. La réduction du bruit ainsi que les caractéristiques des agrégats ont été obtenues en mettant en œuvre l'analyse des composantes principales (PCA) pour l'ensemble des coefficients d'ondelettes calculés à des nœuds (ou positions) régulièrement espacés le long du mode propre. En rejetant les composantes qui contribuent le moins à la variance globale, les scores PCA correspondant aux premières composantes principales se sont révélés très corrélés avec de faibles niveaux d'endommagement incrémentiel. Des méthodes classiques d'essai d'hypothèses ont été effectuées sur les changements des paramètres de localisation des scores pour conclure objectivement et statistiquement, à un niveau de signification donné, sur la présence du dommage. Lorsqu'un dommage statistiquement significatif a été détecté, un nouvel algorithme basé sur les probabilités a été développé pour déterminer l'emplacement le plus probable de l'endommagement le long de la structure. Deuxièmement, se basant sur l'approche probabiliste, une série de tests a été effectuée dans une chambre environnementale à température contrôlée pour étudier les contributions relatives des effets de l’endommagement et de la température sur les propriétés dynamiques de la poutre afin d’estimer un facteur de correction pour l'ajustement des scores extraits. Il s'est avéré que la température avait un effet réversible sur la distribution des scores et que cet effet était plus grand lorsque le niveau d'endommagement était plus élevé. Les résultats obtenus pour les scores ajustés indiquent que la correction des effets réversibles de la température peut améliorer la probabilité de détection et minimiser les fausses alarmes. Les résultats expérimentaux indiquent que la contribution combinée des algorithmes utilisés dans cette étude était très efficace pour détecter de faibles niveaux d'endommagement incrémentiel à plusieurs endroits le long de la poutre tout en minimisant les effets indésirables du bruit et de la température dans les résultats. Les résultats de cette recherche démontrent que l'approche proposée est prometteuse pour la surveillance des structures. Cependant, une quantité importante de travail de validation est attendue avant sa mise en œuvre sur des structures réelles. Mots-clés : Détection et localisation des dommages, Poutre, Mode propre, Ondelette, Analyse des composantes principales, Rapport de probabilité, TempératureRemote monitoring of structures has emerged as an important concern for engineers to maintain safety and reliability of civil infrastructure during its service life. Structural Health Monitoring (SHM) techniques are increasingly becoming popular to provide ideas for diagnosis of the "state" of potential defects in structures due to aging, deterioration and fault during construction. The limitations of visual inspection and non-destructive techniques, which were commonly used to detect extreme defects on only accessible portions of structures, led to the discovery of new technologies which assess the "global state" of a monitored structure at once. Global monitoring techniques have been used extensively for the recognition of damage in large civil infrastructure, such as bridges, based on modal analysis of structural dynamic response. However, because of complicated features of real-life structures under varying environmental conditions and statistical uncertainties in modal parameters, current diagnosis techniques have not been conclusive in ascertaining a robust and straightforward methodology to detect damage increments before it reaches its critical stage. Statistical pattern recognition techniques are incorporated with vibration-based damage detection methods to provide a better estimate for the probability of the detection of damage in field applications, which is usually challenging given the high noise to signal ratio. Nevertheless, this part of SHM is still in its initial stage of development and, hence, further attempts are required to achieve a reliable damage detection methodology. A statistical-based damage detection strategy was proposed to detect and localize low levels of incremental damage in an experimental beam in which the level of damage and beam restraint conditions are adjustable (e.g. fixed-fixed and pinned-pinned). First, experiments were performed in controlled laboratory conditions to detect small levels of induced-damage (e.g. 4% crack height for an equivalent rectangular section) simulated for early stage damage scenarios in real cases. Various levels of damage were simulated at two distinct locations along the beam. For each sate of incremental damage, repeat measurements (~ 50 to 100) were performed to account for uncertainty and variability in the first vibration mode of the structure due to experimental errors and noise. A modal-based wavelet analysis technique was applied to detect abnormal changes occurring in the mode shapes caused by damage. Noise reduction as well as aggregate characteristics were obtained by implementing the Principal Component Analysis (PCA) into the set of wavelet coefficients computed at regularly spaced nodes along the mode shape. By discarding components that contribute least to the overall variance, the PCA scores corresponding to the first few PCs were found to be highly correlated with low levels of incremental damage. Classical hypothesis testing methods were performed on changes on the location parameters of the scores to conclude damage objectively and statistically at a given significance level. When a statistically significant damage was detected, a novel Likelihood-based algorithm was developed to determine the most likely location of damage along the structure. Secondly, given the likelihood approach, a series of tests were carried out in a climate-controlled room to investigate the relative contributions of damage and temperature effects on the dynamic properties of the beam and to estimate a correction factor for the adjustment of scores extracted. It was found that the temperature had a reversible effect on the distribution of scores and that the effect was larger when the damage level was higher. The resulted obtained for the adjusted scores indicated that the correction for reversible effects of temperature can improve the probability of detection and minimize false alarms. The experimental results indicate that the combined contribution of the algorithms used in this study were very efficient to detect small-scale levels of incremental damage at multiple locations along the beam, while minimizing undesired effects of noise and temperature in the results. The results of this research demonstrate that the proposed approach may be used as a promising tool for SHM of actual structures. However, a significant amount of challenging work is expected for implementing it on real structures. Key-words: Damage Detection and Localization, Beam, Mode Shape, Wavelet, Principal Component Analysis, Likelihood Ratio, Temperatur

A Novel Modal Analysis Method Based on Fuzzy Sets

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.A novel method of vibration modelling is proposed in this thesis. This method involves estimating the mode shapes of a general structure and describing these shapes in terms of fuzzy membership functions. These estimations or initial guesses are based on engineerâ s experience or physical insight into natural mode shapes assisted by end and boundary conditions and some rules. The guessed mode shapes were referred to as Mode Shape Forms (MSFs). MSFs are approximate mode shapes, therefore there are uncertainties involve with their values where this uncertainty is expressed by fuzzy sets. The deflection or displacement magnitude of the mode shape forms are described with Zero, Medium, and Large fuzzy linguistic terms and constructed using fuzzy membership functions and rules. Fuzzy rules are introduced for each MSF. In that respect fuzzy membership functions provides a means of dealing with uncertainty in measured data, it gives access to a large repertoire of tools available in fuzzy reasoning field. The second stage of the process addresses the issues of updating these curves by experimental data. This involves performing experimental modal analysis. The mode shapes derived from experimental FRFs collect a limited number of sampling points. When the fuzzy data is updated by experimental data, the method proposes that the points of the fuzzy data correspond to the sampling points of FRF are to be replaced by the experimental data. Doing this creates a new fuzzy curve which is the same as the previous one, except at those points. In another word a â spikedâ version of the original fuzzy curve is obtained. In the last stage of this process, neural network is used to â learnâ the spiked curve. By controlling the learning process (by preventing it from overtraining), an updated fuzzy curve is generated that is the final version of the mode shape. Examples are presented to demonstrate the application of the proposed method in modelling of beams, a plate and a structure (a three beams frame). The method is extended to evaluate the error where a wrong MSF is assumed for the mode shape. In this case the method finds the correct MSF among available guessed MSFs. A further extension of the method is proposed for cases where there is no guess available for the mode shape. In this situation the â closestâ MSF is selected among available MSFs. This MSF is modified by correcting the fuzzy rules that is used in constructing of the fuzzy MSF. Using engineering experience, heuristic knowledge and the developed MSF rules in this method are the capabilities that cannot be provided with any artificial intelligent system. This provides additional advantage relative to vibration modelling approaches that have been developed until now. Therefore this method includes all aspects of an effective analysis such as mixed artificial intelligence and experimental validation, plus human interface/intelligence. Another advantage is, MSF rules provide a novel approach in vibration modelling where enables the method to start and operate with unknown input parameters such as unknown material properties and imprecise structure dimensions. Hence the classical computational procedures of obtaining the vibration behaviour of the system, from these inputs, are not used in this approach. As a result, this method avoids the time consuming computational procedure that exhibit in existing vibration modelling methods. However, the validation procedure, using experimental tests (modal testing) is the same acceptable procedure that is used in any other available methods which proves the accuracy of the method. (This thesis was published in Dec 2005

A hysteretic multiscale formulation for nonlinear dynamic analysis of composite materials

This article has been made available through the Brunel Open Access Publishing Fund.A new multiscale finite element formulation is presented for nonlinear dynamic analysis of heterogeneous structures. The proposed multiscale approach utilizes the hysteretic finite element method to model the microstructure. Using the proposed computational scheme, the micro-basis functions, that are used to map the microdisplacement components to the coarse mesh, are only evaluated once and remain constant throughout the analysis procedure. This is accomplished by treating inelasticity at the micro-elemental level through properly defined hysteretic evolution equations. Two types of imposed boundary conditions are considered for the derivation of the multiscale basis functions, namely the linear and periodic boundary conditions. The validity of the proposed formulation as well as its computational efficiency are verified through illustrative numerical experiments